Silvere Bonnabel

Publication Activity (10 Years)

Years Active: 2006-2022
Publications (10 Years): 24

Top Topics

State Estimation

Particle Filtering

Top Venues

IEEE Trans. Autom. Control.

Publications

Axel Barrau, Silvere Bonnabel
The Geometry of Navigation Problems. CoRR (2022)
Martin Brossard, Axel Barrau, Paul Chauchat, Silvere Bonnabel
Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration With Rotating Earth. IEEE Trans. Robotics 38 (2) (2022)
Paul Chauchat, Silvere Bonnabel, Axel Barrau
Invariant Smoothing with low process noise. CoRR (2022)
Paul Chauchat, Silvere Bonnabel, Axel Barrau
Invariant Smoothing with low process noise. CDC (2022)
Martin Brossard, Axel Barrau, Silvere Bonnabel
A Code for Unscented Kalman Filtering on Manifolds (UKF-M). CoRR (2020)
Axel Barrau, Silvere Bonnabel
A Mathematical Framework for IMU Error Propagation with Applications to Preintegration. CoRR (2020)
Martin Brossard, Silvere Bonnabel, Axel Barrau
Denoising IMU Gyroscopes with Deep Learning for Open-Loop Attitude Estimation. CoRR (2020)
Martin Brossard, Silvere Bonnabel, Axel Barrau
A New Approach to 3D ICP Covariance Estimation. IEEE Robotics Autom. Lett. 5 (2) (2020)
Priyanka Das, Jordi Vilà-Valls, Eric Chaumette, François Vincent, Loïc Davain, Silvere Bonnabel
On the Accuracy Limit of Time-delay Estimation with a Band-limited Signal. ICASSP (2019)
Martin Brossard, Axel Barrau, Silvere Bonnabel
RINS-W: Robust Inertial Navigation System on Wheels. CoRR (2019)
Martin Brossard, Silvere Bonnabel, Axel Barrau
Invariant Kalman Filtering for Visual Inertial SLAM. FUSION (2018)
John N. Maidens, Axel Barrau, Silvere Bonnabel, Murat Arcak
Symmetry reduction for dynamic programming. CoRR (2018)
Martin Brossard, Silvere Bonnabel, Axel Barrau
Unscented Kalman Filter on Lie Groups for Visual Inertial Odometry. IROS (2018)
Silvere Bonnabel, Jean-Jacques E. Slotine
Particle observers for state estimation and adaptation in deterministic systems with random piecewise constant inputs. CDC (2018)
Paul Chauchat, Axel Barrau, Silvere Bonnabel
Invariant smoothing on Lie Groups. IROS (2018)
Toni Karvonen, Silvere Bonnabel, Eric Moulines, Simo Särkkä
Bounds on the Covariance Matrix of a Class of Kalman-Bucy Filters for Systems with Non-Linear Dynamics. CDC (2018)
Axel Barrau, Silvere Bonnabel
Stochastic observers on Lie groups: a tutorial. CDC (2018)
Marion Pilté, Silvere Bonnabel, Frédéric Barbaresco
Tracking the Frenet-Serret frame associated to a highly maneuvering target in 3D. CDC (2017)
Martin Barczyk, Silvere Bonnabel
Towards realistic covariance estimation of ICP-based Kinect V1 scan matching: The 1D case. ACC (2017)
Axel Barrau, Silvere Bonnabel
The Invariant Extended Kalman Filter as a Stable Observer. IEEE Trans. Autom. Control. 62 (4) (2017)
Martin Brossard, Silvere Bonnabel, Jean-Philippe Condomines
Unscented Kalman filtering on Lie groups. IROS (2017)
Paul Chauchat, Axel Barrau, Silvere Bonnabel
Kalman filtering with a class of geometric state equality constraints. CDC (2017)
John N. Maidens, Axel Barrau, Silvere Bonnabel, Murat Arcak
Symmetry reduction for dynamic programming and application to MRI. ACC (2017)
Silvere Bonnabel, Martin Barczyk, François Goulette
On the covariance of ICP-based scan-matching techniques. ACC (2016)
Martin Barczyk, Silvere Bonnabel, Jean-Emmanuel Deschaud, François Goulette
Invariant EKF Design for Scan Matching-aided Localization. CoRR (2015)
Axel Barrau, Silvere Bonnabel
Intrinsic Filtering on Lie Groups With Applications to Attitude Estimation. IEEE Trans. Autom. Control. 60 (2) (2015)
Axel Barrau, Silvere Bonnabel
Invariant filtering for Pose EKF-SLAM aided by an IMU. CDC (2015)
Axel Barrau, Silvere Bonnabel
An EKF-SLAM algorithm with consistency properties. CoRR (2015)
Silvere Bonnabel, Axel Barrau
An intrinsic Cramér-Rao bound on SO(3) for (dynamic) attitude filtering. CDC (2015)
Silvere Bonnabel, Axel Barrau
An Intrinsic Cramér-Rao Bound on Lie Groups. GSI (2015)
Silvere Bonnabel, Jean-Jacques E. Slotine
A Contraction Theory-Based Analysis of the Stability of the Deterministic Extended Kalman Filter. IEEE Trans. Autom. Control. 60 (2) (2015)
Martin Barczyk, Silvere Bonnabel, Jean-Emmanuel Deschaud, François Goulette
Invariant EKF Design for Scan Matching-Aided Localization. IEEE Trans. Control. Syst. Technol. 23 (6) (2015)
Sebastien Diemer, Silvere Bonnabel
An invariant Linear Quadratic Gaussian controller for a simplified car. ICRA (2015)
Silvere Bonnabel, Axel Barrau
An intrinsic Cramér-Rao bound on Lie groups. CoRR (2015)
Axel Barrau, Silvere Bonnabel
Invariant particle filtering with application to localization. CDC (2014)
Émilie Wirbel, Silvere Bonnabel, Arnaud de La Fortelle, Fabien Moutarde
Humanoid Robot Navigation: Getting Localization Information from Vision. J. Intell. Syst. 23 (2) (2014)
Sebastien Diemer, Silvere Bonnabel
An Invariant Linear Quadratic Gaussian controller for a simplified car. CoRR (2014)
Martin Barczyk, Silvere Bonnabel, François Goulette
Observability, Covariance and Uncertainty of ICP Scan Matching. CoRR (2014)
Anne Collard, Silvere Bonnabel, Christophe Phillips, Rodolphe Sepulchre
Anisotropy Preserving DTI Processing. Int. J. Comput. Vis. 107 (1) (2014)
Martin Barczyk, Silvere Bonnabel, Jean-Emmanuel Deschaud, François Goulette
Experimental Implementation of an Invariant Extended Kalman Filter-based Scan Matching SLAM. CoRR (2014)
Martin Barczyk, Silvere Bonnabel, Jean-Emmanuel Deschaud, François Goulette
Experimental implementation of an Invariant Extended Kalman Filter-based scan matching SLAM. ACC (2014)
Axel Barrau, Silvere Bonnabel
The invariant extended Kalman filter as a stable observer. CoRR (2014)
Jean Gregoire, Silvere Bonnabel, Arnaud de La Fortelle
Priority-based intersection management with kinodynamic constraints. ECC (2014)
Jean Gregoire, Silvere Bonnabel, Arnaud de La Fortelle
Optimal cooperative motion planning for vehicles at intersections. CoRR (2013)
Émilie Wirbel, Bruno Steux, Silvere Bonnabel, Arnaud de La Fortelle
Humanoid robot navigation: From a visual SLAM to a visual compass. ICNSC (2013)
Axel Barrau, Silvere Bonnabel
A Note on the Intrinsic Cramer-Rao Bound. GSI (2013)
Axel Barrau, Silvere Bonnabel
Intrinsic filtering on Lie groups with applications to attitude estimation. CoRR (2013)
Jean Gregoire, Silvere Bonnabel, Arnaud de La Fortelle
Priority-based intersection management with kinodynamic constraints. CoRR (2013)
Axel Barrau, Silvere Bonnabel
Intrinsic filtering on SO(3) with discrete-time observations. CDC (2013)
Silvere Bonnabel
Stochastic Gradient Descent on Riemannian Manifolds. IEEE Trans. Autom. Control. 58 (9) (2013)
Jean Gregoire, Silvere Bonnabel, Arnaud de La Fortelle
Priority-based coordination of robots. CoRR (2013)
Thach Ngoc Dinh, Silvere Bonnabel, Rodolphe Sepulchre
Contraction-based design of positive observers. CDC (2013)
Silvere Bonnabel, Rodolphe Sepulchre
The geometry of low-rank Kalman filters CoRR (2012)
Anne Collard, Silvere Bonnabel, Christophe Phillips, Rodolphe Sepulchre
An anisotropy preserving metric for DTI processing CoRR (2012)
Silvere Bonnabel, Jean-Jacques E. Slotine
A contraction theory-based analysis of the stability of the Extended Kalman Filter CoRR (2012)
Thibault Hervier, Silvere Bonnabel, François Goulette
Accurate 3D maps from depth images and motion sensors via nonlinear Kalman filtering CoRR (2012)
Thibault Hervier, Silvere Bonnabel, François Goulette
Accurate 3D maps from depth images and motion sensors via nonlinear Kalman filtering. IROS (2012)
Bamdev Mishra, Gilles Meyer, Silvere Bonnabel, Rodolphe Sepulchre
Fixed-rank matrix factorizations and Riemannian low-rank optimization CoRR (2012)
Silvere Bonnabel
Stochastic gradient descent on Riemannian manifolds. CoRR (2011)
Silvere Bonnabel, Alessandro Astolfi, Rodolphe Sepulchre
Contraction and observer design on cones. CDC/ECC (2011)
Gilles Meyer, Silvere Bonnabel, Rodolphe Sepulchre
Regression on Fixed-Rank Positive Semidefinite Matrices: A Riemannian Approach. J. Mach. Learn. Res. 12 (2011)
Didier Auroux, Silvere Bonnabel
Symmetry-Based Observers for Some Water-Tank Problems. IEEE Trans. Autom. Control. 56 (5) (2011)
Silvere Bonnabel
Symmetries in observer design: review of some recent results and applications to EKF-based SLAM CoRR (2011)
Silvere Bonnabel, Jean-Emmanuel Deschaud, Erwan Salaün
A simple nonlinear filter for low-cost ground vehicle localization system. CDC/ECC (2011)
Gilles Meyer, Silvere Bonnabel, Rodolphe Sepulchre
Linear Regression under Fixed-Rank Constraints: A Riemannian Approach. ICML (2011)
Silvere Bonnabel
A Simple Intrinsic Reduced-Observer for Geodesic Flow. IEEE Trans. Autom. Control. 55 (9) (2010)
Gilles Meyer, Silvere Bonnabel, Rodolphe Sepulchre
Regression on fixed-rank positive semidefinite matrices: a Riemannian approach CoRR (2010)
Alain Sarlette, Silvere Bonnabel, Rodolphe Sepulchre
Coordinated Motion Design on Lie Groups. IEEE Trans. Autom. Control. 55 (5) (2010)
Silvere Bonnabel, Philippe Martin, Pierre Rouchon
Non-Linear Symmetry-Preserving Observers on Lie Groups. IEEE Trans. Autom. Control. 54 (7) (2009)
Silvere Bonnabel, Rodolphe Sepulchre
Riemannian Metric and Geometric Mean for Positive Semidefinite Matrices of Fixed Rank. SIAM J. Matrix Anal. Appl. 31 (3) (2009)
Silvere Bonnabel, Mazyar Mirrahimi, Pierre Rouchon
Observer-based Hamiltonian identification for quantum systems. Autom. 45 (5) (2009)
Silvere Bonnabel, Philippe Martin, Erwan Salaün
Invariant Extended Kalman Filter: theory and application to a velocity-aided attitude estimation problem. CDC (2009)
Alain Sarlette, Silvere Bonnabel, Rodolphe Sepulchre
Coordination on Lie groups. CDC (2008)
Silvere Bonnabel, Philippe Martin, Pierre Rouchon
Symmetry-Preserving Observers. IEEE Trans. Autom. Control. 53 (11) (2008)
Silvere Bonnabel
Left-invariant extended Kalman filter and attitude estimation. CDC (2007)
Silvere Bonnabel, Philippe Martin, Pierre Rouchon
A non-linear symmetry-preserving observer for velocity-aided inertial navigation. ACC (2006)